Typoの修正

.github/workflows/custom_dict.json

@@ -0,0 +1,87 @@
+{
+  "ignorePaths": [
+  ],
+  "words": [
+    "grSim",
+    "robocup",
+    "robocupssl",
+    "teleop",
+    "inplay",
+    "liborocos",
+    "matplotlibcpp",
+    "DPPS",
+    "consai",
+    "DBOOST",
+    "ZJUNlict",
+    "autoref",
+    "yellowteam",
+    "isteamyellow ",
+    "wheelsspeed",
+    "kickspeedx",
+    "kickspeedz",
+    "veltangent",
+    "velnormal",
+    "velangular",
+    "STRGREATER",
+    "bringup",
+    "gitflow",
+    "sint32",
+    "oneof",
+    "customwidget",
+    "customwidgets",
+    "Midlight",
+    "brushstyle",
+    "colorrole",
+    "statustip",
+    "Robotstatus",
+    "AIS",
+    "AMC",
+    "CMμs",
+    "ER-Force",
+    "erforce",
+    "ibis",
+    "ITAndroids",
+    "Immortals",
+    "KIKS",
+    "KgpKubs",
+    "MCT",
+    "Susano",
+    "Roboteam",
+    "MRL",
+    "NAELIC",
+    "NEUIslanders",
+    "OMID",
+    "OP-AmP",
+    "Parsian",
+    "RFC Cambridge",
+    "Ri-One",
+    "Ri-one",
+    "RoboDragons",
+    "RoboFEI",
+    "RoboIME",
+    "RoboJackets",
+    "Twente",
+    "RobôCin",
+    "SRC",
+    "SSH",
+    "STOx’s",
+    "Sysmic",
+    "TIGERs",
+    "Mannheim",
+    "Tritons",
+    "RCSC",
+    "Thunderbots",
+    "ULtron",
+    "UMass",
+    "Minutebots",
+    "URoboRus",
+    "Unknown",
+    "Warthog",
+    "ZJUNlict",
+    "luhbots",
+    "nAMeC",
+    "roboticserlangen",
+    "tigersmannheim",
+    "simulatorcli"
+  ]
+}

.github/workflows/spell_check.yaml

@@ -0,0 +1,19 @@
+name: spell_check
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  spell-check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Run spell-check
+        uses: autowarefoundation/autoware-github-actions/spell-check@v1
+        with:
+          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
+          local-cspell-json: .github/workflows/custom_dict.json
+          incremental-files-only: false

CONTRIBUTING.md

@@ -2,7 +2,7 @@
 
 ## コーディング
 
-基本的に[ROS2 Developer's Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/)に従ってください．
+基本的に[ROS 2 Developer's Guide](https://index.ros.org/doc/ros2/Contributing/Developer-Guide/)に従ってください．
 
 main関数以外の全てのコードは`crane`名前空間の中で実装を行ってください．
 

consai_ros2/consai_vision_tracker/src/robot_tracker.cpp

@@ -121,6 +121,7 @@ RobotTracker::RobotTracker(const int team_color, const int id, const double dt)
   // 例：1.0[m/s] / 0.001[s] = 100 [m/ss]
   const double MAX_LINEAR_ACC_MPS = 0.1 * 1.0 / dt;
   // 例：1.0[rad/s] / 0.001[s] = 100 [rad/ss]
+  // cspell: ignore RADPS
   const double MAX_ANGULAR_ACC_RADPS = 0.05 * M_PI / dt;
   const double MAX_LINEAR_ACCEL_IN_DT = MAX_LINEAR_ACC_MPS * dt;                          // [m/s]
   const double MAX_ANGULAR_ACCEL_IN_DT = MAX_ANGULAR_ACC_RADPS * dt;                      // [rad/s]

consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py

@@ -305,7 +305,7 @@ def _is_clicked(self, pos1, pos2, threshold):
             return False
 
     def _publish_ball_pos_replacement(self):
-        # grSimのBall Replacementの位置をpublsihする
+        # grSimのBall Replacementの位置をpublishする
         ball_replacement = BallReplacement()
         pos = self._convert_draw_to_field_pos(self._mouse_current_point)
         ball_replacement.x.append(pos.x() * 0.001)  # mm に変換
@@ -317,7 +317,7 @@ def _publish_ball_pos_replacement(self):
         self._pub_replacement.publish(replacement)
 
     def _publish_ball_vel_replacement(self):
-        # grSimのBall Replacementの速度をpublsihする
+        # grSimのBall Replacementの速度をpublishする
         ball_replacement = BallReplacement()
 
         start_pos = self._convert_draw_to_field_pos(self._mouse_clicked_point)

consai_ros2/consai_visualizer/src/consai_visualizer/referee_parser.py

@@ -101,12 +101,12 @@ def _microseconds_to_text(microseconds):
 
 
 def parse_stage_time_left(ref_stage_time_left):
-    # レフェリーステージの残り時間(usec)を文字列に変換する
+    # レフェリーステージの残り時間(micro sec)を文字列に変換する
     return "STAGE: " + _microseconds_to_text(ref_stage_time_left)
 
 
 def parse_action_time_remaining(ref_action_time_remaining):
-    # アクション残り時間(usec)を文字列に変換する
+    # アクション残り時間(micro sec)を文字列に変換する
     text = "0:00"
     if ref_action_time_remaining > 0:
         text = _microseconds_to_text(ref_action_time_remaining)

consai_ros2/robocup_ssl_msgs/proto/ssl_gc_referee_message.proto

@@ -159,7 +159,7 @@ message Referee {
     required TeamInfo blue = 8;
 
     // The coordinates of the Designated Position. These are measured in
-    // millimetres and correspond to SSL-Vision coordinates. These fields are
+    // millimeters and correspond to SSL-Vision coordinates. These fields are
     // always either both present (in the case of a ball placement command) or
     // both absent (in the case of any other command).
     message Point {

crane_description/crane_description/parameter.py

@@ -62,6 +62,7 @@ def get_parameters(node, parameter_names, timeout_sec=10.0):
 
     return_values = {}
 
+    # cspell: ignore pvalue
     # https://github.com/ros2/ros2cli/blob/780923c046f8e537e884d18bef33a2338f2d409c/ros2param/ros2param/api/__init__.py#L54
     for i, pvalue in enumerate(response.values):
         if pvalue.type == ParameterType.PARAMETER_BOOL:

crane_game_analyzer/include/crane_game_analyzer/game_analyzer.hpp

@@ -22,14 +22,14 @@ struct BallIdleConfig
   double move_distance_threshold_meter = 0.05;
 };
 
-struct BallPossesionConfig
+struct BallPossessionConfig
 {
   double threshold_meter = 0.05;
 };
 struct GameAnalyzerConfig
 {
   BallIdleConfig ball_idle;
-  BallPossesionConfig ball_possesion;
+  BallPossessionConfig ball_possession;
 };
 
 struct BallTouchInfo
@@ -58,7 +58,7 @@ class GameAnalyzerComponent : public rclcpp::Node
   explicit GameAnalyzerComponent(const rclcpp::NodeOptions & options);
 
 private:
-  void updateBallPossesion(crane_msgs::msg::BallAnalysis & analysis)
+  void updateBallPossession(crane_msgs::msg::BallAnalysis & analysis)
   {
     auto & ours = world_model->ours.robots;
     auto & theirs = world_model->theirs.robots;
@@ -78,7 +78,7 @@ class GameAnalyzerComponent : public rclcpp::Node
     double ours_distance = (nearest_ours->pose.pos - ball_pos).norm();
     double theirs_distance = (nearest_theirs->pose.pos - ball_pos).norm();
 
-    const auto & threshold = config.ball_possesion.threshold_meter;
+    const auto & threshold = config.ball_possession.threshold_meter;
     analysis.ball_possession_ours = (ours_distance < threshold);
     analysis.ball_possession_theirs = (theirs_distance < threshold);
   }

crane_game_analyzer/src/crane_game_analyzer.cpp

@@ -23,7 +23,7 @@ GameAnalyzerComponent::GameAnalyzerComponent(const rclcpp::NodeOptions & options
   world_model->addCallback([&]() {
     crane_msgs::msg::GameAnalysis game_analysis_msg;
     bool is_ball_idle = getBallIdle();
-    updateBallPossesion(game_analysis_msg.ball);
+    updateBallPossession(game_analysis_msg.ball);
     auto robot_collision_info = getRobotCollisionInfo();
 
     if (robot_collision_info) {

crane_local_planner/include/crane_local_planner/local_planner.hpp

@@ -45,6 +45,7 @@ class LocalPlannerComponent : public rclcpp::Node
     RVO_MAX_NEIGHBORS = get_parameter("rvo_max_neighbors").as_int();
     declare_parameter("rvo_time_horizon", RVO_TIME_HORIZON);
     RVO_TIME_HORIZON = get_parameter("rvo_time_horizon").as_double();
+    // cspell: ignore OBST
     declare_parameter("rvo_time_horizon_obst", RVO_TIME_HORIZON_OBST);
     RVO_TIME_HORIZON_OBST = get_parameter("rvo_time_horizon_obst").as_double();
     declare_parameter("rvo_radius", RVO_RADIUS);
@@ -91,7 +92,7 @@ class LocalPlannerComponent : public rclcpp::Node
       rvo_sim->addAgent(RVO::Vector2(20.0f, 20.0f));
     }
 
-    commnads_pub = this->create_publisher<crane_msgs::msg::RobotCommands>("/robot_commands", 10);
+    commands_pub = this->create_publisher<crane_msgs::msg::RobotCommands>("/robot_commands", 10);
     control_targets_sub = this->create_subscription<crane_msgs::msg::RobotCommands>(
       "/control_targets", 10,
       std::bind(&LocalPlannerComponent::callbackControlTarget, this, std::placeholders::_1));
@@ -107,7 +108,7 @@ class LocalPlannerComponent : public rclcpp::Node
 private:
   rclcpp::Subscription<crane_msgs::msg::RobotCommands>::SharedPtr control_targets_sub;
 
-  rclcpp::Publisher<crane_msgs::msg::RobotCommands>::SharedPtr commnads_pub;
+  rclcpp::Publisher<crane_msgs::msg::RobotCommands>::SharedPtr commands_pub;
 
   std::unique_ptr<RVO::RVOSimulator> rvo_sim;
 

crane_local_planner/src/crane_local_planner.cpp

@@ -105,7 +105,7 @@ void LocalPlannerComponent::reflectWorldToRVOSim(const crane_msgs::msg::RobotCom
   //          constexpr double MAX_ACC = 10.0;
   //          constexpr double FRAME_RATE = 300;
   //          constexpr double MAX_SPEED = 10.0;
-  //          std::cout << "current_robot: " << int(robot_target->robot_id) << std::endl;
+  //          std::cout << "current_robot: " << int(robot_target->robot_id) << std::end;
   //          std::cout << "from: " << pos.x() << ", " << pos.y() << std::endl;
   //          std::cout << "to: " << target_x << ", " << target_y << std::endl;
   //          // 2ax = v^2 - v0^2
@@ -180,7 +180,7 @@ void LocalPlannerComponent::callbackControlTarget(const crane_msgs::msg::RobotCo
     // RVOシミュレータ更新
     rvo_sim->doStep();
 
-    commnads_pub->publish(extractRobotCommandsFromRVOSim(msg));
+    commands_pub->publish(extractRobotCommandsFromRVOSim(msg));
   } else {
     crane_msgs::msg::RobotCommands commands = msg;
     for (auto & command : commands.robot_commands) {
@@ -251,7 +251,7 @@ void LocalPlannerComponent::callbackControlTarget(const crane_msgs::msg::RobotCo
         command.current_ball_y = world_model->ball.pos.y();
       }
     }
-    commnads_pub->publish(commands);
+    commands_pub->publish(commands);
   }
 }
 }  // namespace crane

crane_msgs/msg/control/RobotCommand.msg

@@ -1,5 +1,5 @@
 #
-# crane_msgs / msg / RobotCommnad.msg
+# crane_msgs / msg / RobotCommand.msg
 #
 # from : crane_bt_executor
 # to : crane_real_sender
@@ -34,7 +34,7 @@ float32[] target_x
 float32[] target_y
 float32[] target_theta
 
-float32 laytency_ms 0.0
+float32 latency_ms 0.0
 
 float32 current_ball_x
 float32 current_ball_y

crane_msgs/msg/planner/ReceiverPlan.msg

@@ -1,7 +1,7 @@
 #
 # crane_msgs/msg/RoleCommands.msg
 #
-# from : crane_reveive_planner
+# from : crane_receive_planner
 # to   : crane_target_area_planner
 #
 crane_msgs/PassPlan pass_plan

crane_robot_receiver/src/robot_receiver_node.cpp

@@ -105,7 +105,7 @@ class RobotReceiverNode : public rclcpp::Node
     if (!error) {
       std::string message(data_, bytes_recvd);
 
-      // ROS2 にメッセージを publish
+      // ROS 2 にメッセージを publish
       //      auto msg = std_msgs::msg::String();
       //      msg.data = message;
       //      publisher_->publish(msg);

crane_sender/include/crane_sender/sender_base.hpp

@@ -36,8 +36,6 @@ class SenderBase : public rclcpp::Node
     for (auto & controller : theta_controllers) {
       controller.setGain(kp, ki, kd);
     }
-    //    sub_replacement_ = this->create_subscription<robocup_ssl_msgs::msg::Replacement>(
-    //      "sim_sender/replacements", 10, std::bind(&SimSender::send_replacement, this, std::placeholders::_1));
   }
 
 protected:
@@ -47,7 +45,7 @@ class SenderBase : public rclcpp::Node
 
   bool no_movement;
 
-  double current_laytency_ms = 0.0;
+  double current_latency_ms = 0.0;
 
   virtual void sendCommands(const crane_msgs::msg::RobotCommands & msg) = 0;
 
@@ -83,12 +81,7 @@ class SenderBase : public rclcpp::Node
     crane_msgs::msg::RobotCommands msg_robot_coordinates = msg;
 
     for (auto & command : msg_robot_coordinates.robot_commands) {
-      command.laytency_ms = current_laytency_ms;
-      //      if (command.robot_id == 3) {
-      //        std::cout << "vel : " << std::fixed << std::setprecision(5) << command.target_velocity.x
-      //                  << " " << command.target_velocity.y << " " << command.current_pose.theta
-      //                  << std::endl;
-      //      }
+      command.latency_ms = current_latency_ms;
       // 座標変換（ワールド->各ロボット）
       double vx = command.target_velocity.x;
       double vy = command.target_velocity.y;
@@ -97,11 +90,6 @@ class SenderBase : public rclcpp::Node
       command.target_velocity.y =
         vx * sin(-command.current_pose.theta) + vy * cos(-command.current_pose.theta);
 
-      //      if (command.robot_id == 3) {
-      //        std::cout << "VEL : " << std::fixed << std::setprecision(5) << command.target_velocity.x
-      //                  << " " << command.target_velocity.y << std::endl;
-      //      }
-
       // 目標角度が設定されているときは角速度をPID制御器で出力する
       if (not command.target_theta.empty()) {
         command.target_velocity.theta =

crane_sender/src/real_sender_node.cpp

@@ -212,7 +212,7 @@ class RealSenderNode : public SenderBase
 
       // Vision位置
       //  -32.767 ~ 0 ~ 32.767 -> 0 ~ 32767 ~ 65534
-      // meter -> mili meter
+      // meter -> milli meter
       auto [vision_x_low, vision_x_high] = to_two_byte(command.current_pose.x, 32.767);
       auto [vision_y_low, vision_y_high] = to_two_byte(command.current_pose.y, 32.767);
 
@@ -224,6 +224,7 @@ class RealSenderNode : public SenderBase
       auto [target_y_low, target_y_high] = to_two_byte(target_y, 32.767);
 
       sock = socket(AF_INET, SOCK_DGRAM, 0);
+      // cspell: ignore BINDTODEVICE
       setsockopt(sock, SOL_SOCKET, SO_BINDTODEVICE, opt, 4);
       addr.sin_family = AF_INET;
       addr.sin_port = htons(12345);

docs/logs/2023-04-16.md

@@ -37,6 +37,6 @@
 local_plannerは`/control_targets`駆動.  
 それを出しているプランナー群は`world_model`駆動...
 
-あれ，world_mdoel駆動だおかしいな...
+あれ，world_model駆動だおかしいな...
 
 もしかして，前回測定時には`world_model_publisher`が3つ同時起動していた可能性がある？！？！

docs/logs/2023-05-03.md

@@ -96,6 +96,6 @@ INPLAYのコマンド更新時に`command_updated`を`true`にする処理を実
 
 PlaySituationを受け取って行う処理の実装
 
-- `sesion_controller`の実装
+- `session_controller`の実装
   - 主に，コマンドを受け取ってセッションを組む部分の実装（ここも泥臭そう...）
 - `session_controller`で使う上で足りないプランナのリストアップ

docs/logs/2023-05-06.md

@@ -4,7 +4,7 @@
 
 PlaySituationを受け取って行う処理の実装
 
-- `sesion_controller`の実装
+- `session_controller`の実装
   - 主に，コマンドを受け取ってセッションを組む部分の実装（ここも泥臭そう...）
 - `session_controller`で使う上で足りないプランナのリストアップ